Omron R6YXC1000, User Manual, Page: 159 / 260

7
Contr
oller system settings
7-23
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Push judge speed
‹
PSHJGSP
›
The pushing time counting starts when the current axis movement speed lowers the rate specified in this parameter
against command movement speed. When "0" is set, the judgement is invalid.
When this parameter is initialized, "0" is set.
■
Push method
‹
PSHMTD
›
This parameter sets the pushing control end detection at executing PUSH statement as follows:
0:
The time for the pushing thrust to reach the specified value is totalized to execute the pushing control end detection.
1: The pushing control end detection is executed only when the pushing thrust continuously reaches the specified
value. If the pushing thrust is lower than the specified value, the elapsed time is reset to "0".
When this parameter is initialized, "0: NORMAL" is set.
■
Manual acceleration
‹
MANACC
›
This parameter sets the acceleration coefficient during robot movement with the manual operation in a range of 1 to
100 [%]. When this parameter is initialized, "100" is set.
CAUTION
When decreasing the acceleration coefficient, a period of stop time in response to the stop command by the
STOP key or stop signal may become long. Take great care when using the robot with the acceleration
coefficient decreased extremely.
NOTE
When the tip swings during acceleration of the manual movement, decrease this value to suppress the swing.
■
Origin speed 1
‹
ORGVEL1
›
This parameter sets the movement speed when performing return-to-origin. When this parameter is initialized, the value
unique to the model is set for the incremental type axis and absolute type axis.
■
Origin speed 2
‹
ORGVEL2
›
This parameter sets the stop speed in performing return-to-origin. When this parameter is initialized, the value unique to
the model is set.
■
Speed after origin
‹
ORGMVS
›
This parameter sets the movement speed when moving to the return-to-origin position in a range of 1 to 100 [%]. When
this parameter is initialized, the value unique to the model is set.
CAUTION
Actual movement speed is:
Maximum speed command [rpm (mm/s for linear motor robots)] x Automatic operation speed [%] x Speed after origin [%]
■
Move position
‹
ORGMVP
›
This parameter sets the movement position after performing return-to-origin. When this parameter is initialized, the value
unique to the model is set.
CAUTION
The axes that are set as mark method move to the "move position" after performing absolute reset in servo on
status. After performing absolute reset in servo off status, they do not move to the "move position".